本文選題：點(diǎn)云數(shù)據(jù) + 粗配準(zhǔn)�。� 參考：《昆明理工大學(xué)》2017年碩士論文

【摘要】：三維激光測(cè)量方法憑借數(shù)據(jù)采集速度快、精度高的優(yōu)點(diǎn),在三維物體和三維場(chǎng)景的建模中得到了廣泛的應(yīng)用。然而由于坐標(biāo)測(cè)量裝置的視域范圍限制和被測(cè)物體及場(chǎng)景本身的尺度以及周圍環(huán)境的限制,一次掃描往往不能獲取物體及場(chǎng)景的全部點(diǎn)云數(shù)據(jù),因此需要進(jìn)行不同視角下點(diǎn)云數(shù)據(jù)的配準(zhǔn)拼接,以形成一個(gè)完整的場(chǎng)景。三維激光點(diǎn)云數(shù)據(jù)配準(zhǔn)時(shí),首先要推導(dǎo)出不同視角下點(diǎn)云數(shù)據(jù)之間的旋轉(zhuǎn)平移變換關(guān)系,并將獲取得到的不同視角下的點(diǎn)云數(shù)據(jù)統(tǒng)一到同一個(gè)坐標(biāo)系下,這個(gè)過(guò)程就是實(shí)現(xiàn)對(duì)點(diǎn)云數(shù)據(jù)進(jìn)行粗配準(zhǔn)和精確配準(zhǔn)。本研究針對(duì)傳統(tǒng)的點(diǎn)云數(shù)據(jù)配準(zhǔn)過(guò)程中存在著精度和計(jì)算效率不高的問(wèn)題展開(kāi)實(shí)驗(yàn)研究,試圖改進(jìn)現(xiàn)有的點(diǎn)云配準(zhǔn)方法。論文對(duì)點(diǎn)云數(shù)據(jù)配準(zhǔn)所涉及到的基本數(shù)學(xué)原理進(jìn)行了闡述。將兩個(gè)不同視角下的待配準(zhǔn)點(diǎn)云分別作為源點(diǎn)集與目標(biāo)點(diǎn)集,采用了基于快速點(diǎn)特征直方圖(FPFH)描述子以及采樣一致性方法實(shí)現(xiàn)點(diǎn)云數(shù)據(jù)的粗配準(zhǔn)。先對(duì)點(diǎn)云數(shù)據(jù)提取關(guān)鍵點(diǎn),計(jì)算關(guān)鍵點(diǎn)的表面法線,進(jìn)一步利用法線特征計(jì)算快速點(diǎn)特征直方圖(FPFH)描述子,然后利用采樣一致性算法完成兩片點(diǎn)云數(shù)據(jù)的粗配準(zhǔn)。實(shí)驗(yàn)結(jié)果表明利用這一方法能夠有效的優(yōu)化點(diǎn)云數(shù)據(jù)的初始匹配位置。精確配準(zhǔn)時(shí)利用粗配準(zhǔn)得到的初始值,結(jié)合最近點(diǎn)迭代(ICP)算法來(lái)實(shí)現(xiàn)點(diǎn)云數(shù)據(jù)的精確配準(zhǔn)。為減少點(diǎn)云數(shù)據(jù)的數(shù)據(jù)量以提高計(jì)算效率,引入了體素化網(wǎng)格法對(duì)點(diǎn)云數(shù)據(jù)進(jìn)行了精簡(jiǎn)處理,再利用RANSAC算法進(jìn)行錯(cuò)誤匹配點(diǎn)對(duì)的去除來(lái)提高配準(zhǔn)的精度,采用上述方法構(gòu)造出精確匹配點(diǎn)對(duì),利用先前研究計(jì)算出的優(yōu)化初始迭代值,進(jìn)行迭代,直到滿足某個(gè)約束條件,最后完成兩片點(diǎn)云之間的精確配準(zhǔn)。與傳統(tǒng)的最近點(diǎn)迭代算法相比,利用上述方法改進(jìn)后的最近點(diǎn)迭代(ICP)算法在匹配準(zhǔn)確度和計(jì)算速度上都有很大的提高。最后,結(jié)合PCL點(diǎn)云庫(kù),利用斯坦福大學(xué)點(diǎn)云數(shù)據(jù)庫(kù)提供的bunny數(shù)據(jù)和dragonStand數(shù)據(jù)進(jìn)行了實(shí)驗(yàn)比對(duì),結(jié)果表明與直接利用最近點(diǎn)迭代(ICP)算法相比,本文提供的方法在增大匹配度和減少計(jì)算時(shí)間方面都優(yōu)于傳統(tǒng)方法。
[Abstract]:3D laser measurement method has been widely used in 3D object and 3D scene modeling because of its advantages of fast data acquisition and high precision. However, due to the limitation of the scope of view of the coordinate measuring device, the scale of the object under measurement and the scale of the scene and the surrounding environment, the whole point cloud data of the object and scene can not be obtained by a single scan. In order to form a complete scene, the registration of point cloud data from different perspectives is needed. When 3D laser point cloud data match punctuality, we must first derive the rotation and translation transformation relationship between point cloud data from different angles of view, and unify the obtained point cloud data under the same coordinate system. This process is to achieve rough registration and accurate registration of point cloud data. In order to improve the existing point cloud registration methods, this study aims at the problems of low accuracy and low computational efficiency in the traditional point cloud data registration process. The basic mathematical principle of point cloud data registration is expounded in this paper. Based on the fast point feature histogram (FPFH) descriptor and the sampling consistency method, the rough registration of point cloud data is realized by using two different point of view cloud as the source point set and the target point set, respectively, and the fast point feature histogram (FPFH) descriptor and the sampling consistency method are used to realize the rough registration of the point cloud data. Firstly, the key points are extracted from the point cloud data, the surface normals of the key points are calculated, and the fast point feature histogram (FPFH) descriptor is further calculated by normal features, and then the rough registration of the two pieces of point cloud data is completed by using the sampling consistency algorithm. Experimental results show that this method can effectively optimize the initial matching position of point cloud data. Using the initial value obtained by rough registration and the nearest point iteration (ICP) algorithm, the accurate registration of point cloud data is realized. In order to reduce the amount of point cloud data and improve the computational efficiency, a voxel mesh method is introduced to simplify the point cloud data, and then the RANSAC algorithm is used to remove the mismatched point pairs to improve the registration accuracy. The exact matching point pairs are constructed by using the above method, and the initial iteration values calculated by the previous studies are used to iterate until a certain constraint condition is satisfied, and the exact registration between the two point clouds is finally completed. Compared with the traditional nearest point iterative algorithm, the improved nearest point iteration (ICP) algorithm improves the matching accuracy and computing speed greatly. Finally, the PCL point cloud database is used to compare the bunny data and dragonStand data provided by the point cloud database of Stanford University. The results show that the proposed algorithm is compared with the nearest point iterative algorithm. The method presented in this paper is superior to the traditional method in increasing the matching degree and reducing the computational time.
【學(xué)位授予單位】：昆明理工大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：P225.2

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本文編號(hào)：1927105